WO2010098454A1 - Appareil de mesure de la distance - Google Patents

Appareil de mesure de la distance Download PDF

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Publication number
WO2010098454A1
WO2010098454A1 PCT/JP2010/053120 JP2010053120W WO2010098454A1 WO 2010098454 A1 WO2010098454 A1 WO 2010098454A1 JP 2010053120 W JP2010053120 W JP 2010053120W WO 2010098454 A1 WO2010098454 A1 WO 2010098454A1
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WIPO (PCT)
Prior art keywords
distance
timing signal
reference timing
signal
unit
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PCT/JP2010/053120
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English (en)
Japanese (ja)
Inventor
憲一 村上
橋本　裕介
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パナソニック電工株式会社
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Application filed by パナソニック電工株式会社 filed Critical パナソニック電工株式会社
Priority to JP2011501672A priority Critical patent/JP5261571B2/ja
Priority to US13/203,570 priority patent/US8699008B2/en
Priority to CN201080014824.4A priority patent/CN102378920B/zh
Priority to KR1020117022580A priority patent/KR101279103B1/ko
Priority to EP10746333.3A priority patent/EP2402783B1/fr
Publication of WO2010098454A1 publication Critical patent/WO2010098454A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers

Definitions

  • the present invention relates to a distance measuring device, and more particularly to an active type distance measuring device using the principle of the time-of-flight method.
  • Document 1 Japanese Patent Laid-Open No. 2004-45304 discloses a distance measuring device using the principle of the time-of-flight method.
  • the distance measuring device disclosed in the above-mentioned document 1 projects intensity-modulated light whose intensity changes at a constant period, such as a sine waveform, and calculates the phase difference between the modulated waveforms at the time when the intensity-modulated light is projected and received. By measuring, the distance to the object is measured.
  • the maximum measurement distance is a distance corresponding to a half cycle of intensity-modulated light. Therefore, if the frequency of intensity-modulated light is lowered, the maximum measurement distance can be increased. However, if the frequency of intensity-modulated light is lowered in order to increase the maximum measurement distance, the distance resolution is also lowered.
  • An object of the present invention is to provide a distance measuring device capable of keeping the distance resolution constant even when the maximum measurement distance is increased.
  • a distance measuring device includes a light emitting source for irradiating light to a target space where an object is present, and a photoelectric that generates an amount of electric charge according to the intensity of light received from the target space during a light receiving period.
  • the timing control unit is configured to output a modulation signal to the light emitting source and to output a plurality of reference timing signals to the delay control unit.
  • the modulation signal is a square wave signal, and the length of the period in which the modulation signal is at a high level and the period in which the modulation signal is at a low level is determined randomly from a length that is an integral multiple of a predetermined unit period.
  • the plurality of reference timing signals include a non-inverted reference timing signal having the same waveform as the modulated signal and an inverted reference timing signal that is a signal obtained by inverting the non-inverted reference timing signal.
  • the light emitting source is configured to change the intensity of light based on the modulation signal received from the timing control unit.
  • the delay control unit is configured to delay each reference timing signal received from the timing control unit by a delay time, thereby generating a plurality of timing signals and outputting them to the photoelectric conversion unit.
  • the photoelectric conversion unit is configured to select, as the light receiving period, one of a period in which each timing signal received from the delay control unit is at a high level and a period in which the timing signal is at a low level.
  • the charge storage unit is configured to store the charge generated by the photoelectric conversion unit in association with each of the plurality of timing signals.
  • the distance calculation unit is configured to obtain a time difference using the charge amount associated with each timing signal, and obtain a distance to the object based on the obtained time difference and the delay time. .
  • the plurality of reference timing signals are the same as the first reference timing signal that matches the modulation signal, a second reference timing signal that is an inverted version of the first reference timing signal, and the modulation signal.
  • a third reference timing signal that has a waveform and is delayed by a unit period from the modulation signal; and a fourth reference timing signal that is a signal obtained by inverting the third reference timing signal.
  • the distance calculation unit corresponds to the charge amount corresponding to the first reference timing signal, the charge amount corresponding to the second reference timing signal, the charge amount corresponding to the third reference timing signal, and the fourth reference timing signal. The time difference is determined using the amount of charge to be obtained.
  • the distance calculation unit is configured to calculate a distance to the object by adding a distance corresponding to the delay time to a distance corresponding to the time difference.
  • a distance range setting unit is provided, and the distance range setting unit is configured to select the delay time from the plurality of different times and notify the delay control unit according to the received input signal.
  • the delay control unit is configured to generate the timing signal by delaying the reference timing signal by the delay time notified from the distance range setting unit.
  • the distance measuring device includes a plurality of the photoelectric conversion units.
  • the plurality of photoelectric conversion units are arranged in a planar shape so as to form an imaging surface.
  • the distance calculation unit is configured to generate a distance image having a plurality of pixels respectively associated with the plurality of photoelectric conversion units.
  • the distance calculation unit determines whether the distance to the target object matches a predetermined distance, and determines the pixel value of the pixel whose distance to the target object matches the predetermined distance as the distance to the target object.
  • the pixel value of the pixel that does not coincide with the predetermined distance is configured to be different.
  • the predetermined distance includes a time when the light emitting source emits light, a charge amount associated with the non-inverted reference timing signal after the lapse of the delay time after the light emitting source emits light, and the inversion reference. This is the distance corresponding to the difference from the time when the charge amount associated with the timing signal first matches.
  • the distance measuring device has a distance range setting unit.
  • the distance range setting unit is configured to select the delay time from a plurality of different times and notify the delay control unit.
  • the delay control unit is configured to generate the timing signal by delaying the reference timing signal by the delay time notified from the distance range setting unit.
  • the distance measuring device includes an event detection unit that detects occurrence of a predetermined event in the target space.
  • the distance measuring device includes a plurality of the photoelectric conversion units.
  • the plurality of photoelectric conversion units are arranged in a planar shape so as to form an imaging surface.
  • the distance range setting unit is configured to select the delay time according to a distance to a place where the event occurs in the target space when the event detection unit detects the occurrence of the event.
  • the distance calculation unit is configured to generate a distance image having a plurality of pixels respectively associated with the plurality of photoelectric conversion units, and each pixel has a pixel value indicating a distance to the object.
  • the distance measuring device includes a plurality of the photoelectric conversion units.
  • the plurality of photoelectric conversion units are arranged in a planar shape so as to form an imaging surface.
  • the distance range setting unit is configured to select a plurality of the delay times having different measurable ranges.
  • the distance calculation unit is configured to generate a distance image having a plurality of pixels respectively associated with the plurality of photoelectric conversion units for each of the plurality of delay times.
  • the distance calculation unit sets the pixel value of the pixel to an effective pixel value indicating the distance to the object, and If the distance to the object corresponding to the pixel is not included in the measurable range, the pixel value of the pixel is set to an invalid pixel value indicating that the distance to the object is outside the measurable range.
  • the distance calculation unit is configured to generate a combined distance image by combining a plurality of the distance images so that the number of pixels having the invalid pixel value is reduced.
  • the plurality of delay times are selected so that the measurable ranges corresponding to the delay times are continuous with each other.
  • the distance calculation unit sets the pixel value of the pixel to the effective pixel value if the distance to the object corresponding to the pixel matches a predetermined distance, and the object corresponding to the pixel If the distance to the object does not match the predetermined distance, the pixel value of the pixel is set to the invalid pixel value.
  • the predetermined distance includes a time when the light emitting source emits light, a charge amount associated with the non-inverted reference timing signal after the lapse of the delay time after the light emitting source emits light, and the inversion reference. This is the distance corresponding to the difference from the time when the charge amount associated with the timing signal first matches.
  • the distance measuring device includes a correct / incorrect determination unit.
  • the correct / incorrect determination unit is configured to determine whether the distance to the object is within a measurable range using a predetermined determination condition with respect to the magnitude relationship of the charge amount associated with each timing signal. Is done.
  • the distance calculation unit is configured to generate the distance image with reference to the determination result of the correctness determination unit.
  • the plurality of reference timing signals have the same waveform as the modulation signal and invert the delay non-inversion reference timing signal delayed from the modulation signal by the unit period and the delay non-inversion reference timing signal. And a delayed inversion reference timing signal which is a received signal.
  • the distance calculation unit is configured to obtain the time difference using a charge amount corresponding to the delayed non-inverted reference timing signal and a charge amount corresponding to the delayed inverted reference timing signal.
  • the distance measuring device is an active distance measuring device that emits light in a space (target space) in which an object 3 to be measured is present.
  • a light receiving sensor 2 that receives light from the target space
  • a code generator 4 that receives light from the target space
  • a timing control unit 5 that receives light from the target space
  • a distance calculation unit 6 that calculates the distance from the target space
  • a delay control unit 8 a distance range setting unit 9, Is provided.
  • the distance measuring device corresponds to the time (flight time) Tf (see FIG. 3B) until the light projected from the light source 1 is reflected by the object 3 and received by the light receiving sensor 2.
  • the distance to the object 3 is measured based on the physical quantity to be performed. That is, the distance measuring device of the present embodiment measures the distance to the object 3 using the principle of the time-of-flight method.
  • the light emitting source 1 is a light emitting element capable of modulating light output (light intensity) at a high frequency (for example, 10 MHz), such as a light emitting diode or a laser diode.
  • the light receiving sensor 2 is a light receiving element capable of detecting a change in received light intensity for a time comparable to a time for changing the light output of the light emitted from the light emitting source 1.
  • the light receiving sensor 2 is a light receiving element (imaging element) having a large number of light receiving regions (regions corresponding to pixels) like a CCD area image sensor or a CMOS area image sensor, for example.
  • the distance to the target 3 existing in the spatial region determined by the visual field of the light receiving element can be collectively measured. That is, the distance at which the pixel value of each pixel shows a distance value (a value corresponding to the distance to the object 3) without scanning the light emitted from the light emitting source 1 or scanning the visual field of the light receiving element.
  • An image can be generated.
  • the four light receiving regions constitute a pixel (cell) corresponding to one pixel of the distance image. That is, in the present embodiment, information of one pixel of the distance image is obtained using the amount of light received in one cell.
  • the operation corresponding to one pixel of the distance image can be explained by the operation corresponding to four light receiving areas.
  • Each light receiving area of the light receiving sensor 2 is equivalent to a light receiving element having a single light receiving area such as a photodiode or a phototransistor. That is, the light receiving sensor 2 generates and accumulates an amount of electric charge according to the received light intensity (actually, the amount of received light at a predetermined time).
  • two light receiving regions are arranged on a straight line or in two rows.
  • One light receiving region may be used as a pixel corresponding to one pixel of the distance image.
  • the light receiving sensor 2 is a photodiode or a phototransistor
  • a gate circuit such as an analog switch is provided to extract charges generated by the light receiving sensor 2 during the light receiving period.
  • the light receiving sensor 2 is an image sensor
  • the light receiving period during which charges are accumulated in the image sensor is controlled using the principle of an electronic shutter.
  • the charges accumulated in each light receiving region of the light receiving sensor 2 are accumulated many times (for example, 10,000 times) and then taken out to the outside (hereinafter, a period for accumulating charges is referred to as “accumulation period”).
  • the light reception period is set to a short time that allows the light reception intensity to be considered constant. Therefore, in the light receiving period, the amount of received light is equivalent to the received light intensity.
  • the light receiving sensor 2 includes a plurality of photoelectric conversion units, a charge storage unit, and a charge extraction unit.
  • Each photoelectric conversion unit generates an amount of charge corresponding to the intensity of light received from the target space during the light receiving period.
  • the photoelectric conversion unit generates and accumulates charges corresponding to the amount of received light during the light receiving period.
  • the plurality of photoelectric conversion units are arranged in a planar shape so as to form an imaging surface.
  • the charge accumulation unit accumulates the charge accumulated by the photoelectric conversion unit (charge generated by the photoelectric conversion unit) over a predetermined accumulation period sufficiently longer than the light receiving period.
  • the charge extraction unit extracts the charge accumulated by the charge accumulation unit.
  • the photoelectric conversion unit corresponds to each pixel in the imaging region
  • the charge storage unit corresponds to the storage region
  • the charge extraction unit corresponds to the horizontal transfer unit.
  • the photoelectric conversion unit corresponds to a pixel in each imaging region
  • the charge storage unit corresponds to a vertical transfer unit
  • the charge extraction unit corresponds to a vertical transfer unit and a horizontal transfer unit.
  • the photoelectric conversion unit By accumulating the charge accumulated by the photoelectric conversion unit, the amount of charge taken out in association with each light receiving area increases, so that the signal level can be increased and the influence of shot noise can be reduced. Further, when the light output of the light source 1 is modulated at a frequency of about 10 MHz, the number of times of taking out the charge from the light receiving sensor 2 to the outside is set to 30 times or more per second even if the number of accumulation is about 10,000. be able to. That is, a smooth moving image can be generated using the distance image.
  • the modulation signal is a square wave signal as shown in FIG. In FIG. 2, “1” indicates a high level and “0” indicates a low level.
  • the high level and the low level are generated without periodicity, and the high level occurrence probability is equal to the low level occurrence probability.
  • the modulation signal is generated using a technique (for example, a Gold code generation circuit) that generates a PN (Pseudorandom Noise) code used in a spread spectrum technique, for example. Similar to the PN code, the modulation signal is generated such that each period of the high level and the low level has a length that is an integral multiple of the unit period.
  • this unit period is referred to as a chip length following the PN code.
  • the chip length is, for example, 100 [ns], but is not limited to this.
  • the modulation signal is a square wave whose signal value alternately changes between a first value (for example, a value corresponding to a high level) and a second value (for example, a value corresponding to a low level) different from the first value.
  • the first period in which the first signal value is the first value and the second period in which the first signal value is the second value have a length that is an integral multiple of a predetermined unit period, and The length of one period and the second period is determined randomly.
  • the first value may be a value corresponding to the low level
  • the second value may be a value corresponding to the high level.
  • the code generator 4 generates and outputs a modulation signal.
  • the modulation signal output from the code generator 4 is given to the light emission source 1 via the timing control unit 5.
  • the light emitting source 1 is turned on during a period when the modulation signal is at a high level, and is turned off during a period when the modulation signal is at a low level. That is, the light source 1 is turned on / off (changes the intensity of light) in accordance with the signal value (first signal value) of the modulation signal.
  • the timing control unit 5 is configured to output the modulation signal received from the code generator 4 to the light source 1 and to output a plurality of reference timing signals to the delay control unit 8.
  • the timing control unit 5 generates a reference timing signal based on the modulation signal received from the code generator 4.
  • the reference timing signal determines a light receiving period in which the light receiving sensor 2 accumulates charges.
  • four types of reference timing signals are generated to generate one distance image.
  • the four types of reference timing signals respectively correspond to the four light receiving areas of the light receiving sensor 2 and determine the light receiving periods of the four light receiving areas.
  • the timing control unit 5 outputs a clock signal for determining the timing at which the charge accumulated by the light receiving sensor 2 is taken out and the operation timing of the distance calculation unit 6 and the correctness determination unit 7.
  • FIG. 3 shows the relationship between the modulation signal and the reference timing signal.
  • FIG. 3A shows a modulation signal (the intensity of light emitted from the light source 1).
  • FIG. 3B shows the intensity of light received by the light receiving sensor 2.
  • the timing control unit 5 includes a first reference timing signal (see FIG. 3C), a second reference timing signal (see FIG. 3D), and a third reference timing signal (see FIG. 3E). And a fourth reference timing signal (see FIG. 3F) are generated based on the modulation signal.
  • the first reference timing signal matches the modulation signal. That is, the first reference timing signal has the same waveform as the modulation signal and is not delayed from the modulation signal.
  • the second reference timing signal is a signal in which the high level and the low level are inverted with respect to the modulation signal (inverted modulation signal). That is, the second reference timing signal has the same waveform as the inverted modulation signal and is not delayed from the modulation signal. In other words, the second reference timing signal is a signal obtained by inverting the first reference timing signal.
  • the third reference timing signal is a signal delayed by one chip length (unit time) Tc with respect to the modulated signal.
  • the third reference timing signal has the same waveform as the modulation signal and is delayed from the modulation signal.
  • the fourth reference timing signal is a signal that is delayed by one chip length Tc with respect to the modulation signal and in which the high level and the low level are inverted with respect to the modulation signal. . That is, the fourth reference timing signal has the same waveform as the modulation signal and is delayed from the modulation signal. In other words, the fourth reference timing signal is a signal obtained by inverting the third reference timing signal.
  • the timing control unit 5 generates a plurality of reference timing signals.
  • the plurality of reference timing signals are a non-inverting reference timing signal (a first reference timing signal or a third reference timing signal) having the same waveform as the modulation signal, and an inverting reference that is a signal obtained by inverting the non-inverting reference timing signal.
  • Timing signals (second reference timing signal and fourth reference timing signal).
  • the third reference timing signal is a delayed non-inverted reference timing signal having the same waveform as the modulation signal and delayed from the modulation signal by a unit period.
  • the fourth reference timing signal is a delayed inverted reference timing signal obtained by inverting the delayed non-inverted reference timing signal (third reference timing signal).
  • the delay control unit 8 is provided between the timing control unit 5 and the light receiving sensor 2.
  • the delay control unit 8 is configured to delay each reference timing signal received from the timing control unit 5 by a delay time Td, thereby generating a plurality of timing signals and outputting them to the light receiving sensor 2.
  • the delay control unit 8 uses the reference timing signals shown in FIGS. 3C to 3F as a whole behind the time axis while maintaining the relative time relationship between the reference timing signals. To shift (ie delay). Accordingly, the delay control unit 8 delays the first timing signal (see FIG. 6C) obtained by delaying the first reference timing signal by the delay time and the second reference timing signal by the delay time.
  • a second timing signal (see FIG. 6D), a third timing signal (see FIG.
  • the delay time is (2/3) Tc. If the delay time is 0, the timing signal matches the reference timing signal.
  • the measurement range setting unit 9 is used for setting the delay time in the delay control unit 8.
  • the delay control unit 8 is configured to select a delay time from a plurality of different times.
  • the measurement range setting unit 9 instructs the delay control unit 8 which time should be selected.
  • the measurement range setting unit 9 selects a delay time in response to an input (input from a user) from an operation unit (for example, a switch) or a signal specifying a delay time. That is, the distance range setting unit 9 is configured to select a delay time from a plurality of different times and notify the delay control unit 8 of the delay time according to the received input signal.
  • the delay control unit 8 is configured to generate a timing signal by delaying the reference timing signal by the delay time notified from the distance range setting unit 9.
  • each light receiving region of the light receiving sensor 2 generates a charge during a period in which each reference timing signal is at a high level.
  • the amount of charge A0 generated in the light receiving region (first light receiving region) corresponding to the first reference timing signal is an amount corresponding to the area of the part indicated by hatching in FIG.
  • the amount of charge A2 generated in the light receiving region (second light receiving region) corresponding to the second reference timing signal is an amount corresponding to the area of the part indicated by hatching in FIG.
  • the amount of charge A1 generated in the light receiving region (third light receiving region) corresponding to the third reference timing signal is an amount corresponding to the area of the part indicated by hatching in FIG.
  • the amount of charge A3 generated in the light receiving region (fourth light receiving region) corresponding to the fourth reference timing signal is an amount corresponding to the area of the part indicated by hatching in FIG.
  • the charge is taken out from the light receiving sensor 2 after the charge is accumulated many times for each light receiving region (after the charge is accumulated for many times the chip length Tc). Therefore, the amount of charge extracted from each light receiving region is represented by a linear function of the flight time Tf due to the randomness of the modulation signal (the length of the first period and the second period is determined randomly). Converges to a value.
  • the time difference ⁇ is calculated using the charge amounts A0 to A3 taken out from the light receiving sensor 2. In the example shown in FIG. 3, since the delay time Td is 0, the time difference ⁇ is equal to the flight time Tf.
  • each charge amount A0 to A3 is expressed as follows.
  • the distance calculation unit 6 obtains the distance L to the object 3 by performing the above-described calculation using the charge generated by the light receiving sensor 2 during the period specified by the reference timing signal generated by the timing control unit 5.
  • the time difference ⁇ [s] can be obtained by using only three of the four types of charge amounts A0 to A4.
  • A0 ⁇ (A / Tc) ⁇ + A + B
  • A1 (A / Tc) ⁇ + B
  • A2 (A / Tc) ⁇ A + B.
  • the time difference ⁇ [s] can be obtained by using only two of the four types of charge amounts A0 to A4.
  • the time difference ⁇ [s] can be obtained by using only two of the four types of charge amounts A0 to A4.
  • one distance value may be obtained in one accumulation period.
  • four adjacent light-receiving regions (the first light-receiving region, the second light-receiving region, the third light-receiving region, and the fourth light-receiving region) may be 1 One group.
  • the first light receiving region accumulates charges according to a first reference timing signal (first timing signal)
  • the second light receiving region accumulates charges according to a second reference timing signal (second timing signal).
  • the third light receiving region accumulates charges according to the third reference timing signal (third timing signal)
  • the fourth light receiving region charges according to the fourth reference timing signal (fourth timing signal). Accumulate.
  • each light receiving region is accumulated over the accumulation period. If the image sensor accumulates charges in this way, four light receiving areas are used in one accumulation period, so that one distance value can be obtained in one accumulation period. In this case, the resolution is lower than when each light receiving region sequentially accumulates charges according to a plurality of reference timing signals. However, the four charge amounts A0 to A3 can be read from the image sensor at one time. Therefore, it is possible to reduce the number of charges read necessary to generate a one-screen distance image, and to shorten the time required to obtain a one-screen distance image. Therefore, a smooth moving image can be generated using the distance image.
  • one distance value may be obtained in four accumulation periods.
  • four types of reference timing signals (timing signals) are sequentially given to the respective light receiving regions of the image sensor. That is, four accumulation periods are set as one cycle. For example, each light receiving region accumulates charges in accordance with a first reference timing signal (first timing signal) in a first accumulation period, and a second reference timing signal (second timing) in a second accumulation period. Charge is accumulated according to the signal), the charge is accumulated according to the third reference timing signal (third timing signal) in the third accumulation period, and the fourth reference timing signal (in the fourth accumulation period). Charges are accumulated according to the fourth timing signal).
  • each light receiving region accumulates electric charge according to a reference timing signal (timing signal) that is different for each accumulation period. If the image sensor accumulates charges in this way, one distance value can be obtained in four accumulation periods. In this case, the time required to obtain a distance image for one screen is longer than when a plurality of light receiving regions accumulate charges according to different reference timing signals. However, a distance value can be obtained for each light receiving region. Therefore, a distance image with high resolution can be generated.
  • timing signal timing signal
  • the correctness determination unit 7 is configured to determine whether the distance to the object 3 is within a measurable range using a predetermined determination condition with respect to the magnitude relationship of the charge amount associated with each timing signal.
  • the charge amounts A0 and A2 become B which is a constant value when the time difference ⁇ exceeds the one-chip length Tc.
  • the amount of charge A1 increases while 0 ⁇ ⁇ ⁇ Tc and decreases while Tc ⁇ ⁇ 2Tc.
  • the amount of charge A3 decreases while 0 ⁇ ⁇ ⁇ Tc and increases while Tc ⁇ ⁇ 2Tc.
  • the charge amounts A1 and A3 become B which is a constant value when the time difference ⁇ exceeds the two-chip length Tc.
  • the correctness / incorrectness determination unit 7 determines that the time difference ⁇ has exceeded one chip length Tc, that is, the maximum measurable distance Judge that (maximum measurement distance) was exceeded. That is, the determination condition of the correctness determination unit 7 is A0 ⁇ A2 ⁇ ⁇ ( ⁇ 0).
  • the correctness determination unit 7 instructs the distance calculation unit 6 not to output the distance value for the pixel.
  • the distance calculation unit 6 determines that the distance to the object 3 is invalid. As a result, the distance calculation unit 6 does not output the distance to the far object 3 that exceeds the maximum measurement distance. Therefore, erroneous measurement of distance can be prevented.
  • the distance can be measured for a region where the distance to the object 3 is within the range up to the maximum measurement distance. Even if the distance to the object 3 exceeding the maximum measurement distance is invalidated, the sensitivity of the light receiving sensor 2 is not reduced.
  • the correctness determination unit 7 uses the difference between the charge amount (light reception amount) A1 and the charge amount A3 to determine whether or not the distance to the object 3 exceeds the maximum measurement distance. The difference between the charge amount A1 and the charge amount A3 becomes 0 when 2Tc ⁇ .
  • the correctness / incorrectness determination unit 7 determines that the time difference ⁇ has exceeded twice the chip length Tc. That is, the correctness / incorrectness determination unit 7 uses A1 ⁇ A3 ⁇ ⁇ ( ⁇ 0) as a determination condition. When A1 ⁇ A3 ⁇ ⁇ holds, the correctness / incorrectness determination unit 7 determines that the distance to the object 3 exceeds twice the maximum measurement distance. When the correctness / incorrectness determination unit 7 determines that the distance to the target object 3 exceeds twice the maximum measurement distance, the correctness / incorrection determination unit 7 instructs the distance calculation unit 6 not to output the distance value for the pixel.
  • ⁇ second threshold value
  • the correctness determination unit 7 compares the difference between the charge amount A0 and the charge amount A2 with the threshold value ⁇ and compares the difference between the charge amount A1 and the charge amount A3 with the threshold value ⁇ , the distance obtained using the charge amount is obtained. Whether or not it exceeds twice the maximum measurement distance can be determined with high reliability.
  • the threshold value ⁇ and the threshold value ⁇ may be the same value or different values.
  • the delay control unit 8 shifts the reference timing signal (see FIGS. 3C to 3F) output from the timing control unit 5 to the light receiving sensor 2 while shifting in the time axis direction.
  • the delay control unit 8 delays the reference timing signal by one chip length Tc in the time axis direction.
  • the waveform of the received light intensity shown in FIG. 3B is shifted to the right by one chip length Tc, the amount of charge obtained from each light receiving region is as shown in FIGS. 3C to 3F. The amount corresponds to the area of the part indicated by the hatched portion.
  • the distance to the object 3 located at a distance where the waveform of the received light intensity shifts to the right by one chip length Tc can be measured.
  • the distance by which the received light intensity waveform shifts to the right by one chip length Tc is 15 [m] under the above conditions. If 15 [m] is added to the distance obtained by using the timing signal obtained by shifting the reference timing signal shown in FIGS. 3C to 3F to the right by one chip length Tc, the actual distance to the object 3 is obtained. Is obtained. However, when the reference timing signal is shifted to the right by one chip length Tc, the measurable range of the distance is 15 [m] to 30 [m]. That is, when the delay time is 1 chip length Tc, the measurable range is 15 [m] to 30 [m].
  • the measurable range of the distance is 30 to 45 [m].
  • the received light intensity of the reflected light at the object 3 decreases as the distance to the object 3 increases. Therefore, the range in which the timing signal can be delayed (the maximum value of the delay time) is determined according to the received light intensity.
  • the difference between the upper limit value and the lower limit value of the measurable range is constant even when the measurable range is changed by changing the delay time. Therefore, even if the measurable range changes, the distance resolution does not change.
  • the width of the measurable range is determined by the unit period.
  • the resolution of the distance is also determined by the unit period.
  • the upper limit value and the lower limit value of the measurable range are determined by the delay time.
  • the measurable range is shifted by changing the delay time without changing the unit period. This changes the maximum measurement distance. Therefore, the maximum measurement distance can be changed without affecting the resolution.
  • the measurable range is determined by the unit period and the delay time. Accordingly, as shown in FIG. 5A, the measurable range has no periodicity, and the distance is not measured for the object 3 outside the measurable range. Therefore, as shown in FIG. 5B, even if the maximum measurement distance is changed by setting the offset L1 according to the delay time, the distance to the object 3 outside the measurable range can be erroneously measured. Absent.
  • delay time is an integral multiple of the chip length Tc
  • the difference between the charge amount A0 and the charge amount A2 used for calculating the distance is small.
  • the delay time is shorter than the chip length Tc.
  • FIG. 6A shows the modulation signal
  • FIG. 6B shows the intensity of light received by the light receiving sensor 2
  • FIG. 6C shows the first timing signal
  • FIG. 6D shows the first signal
  • FIG. 6E shows a third timing signal
  • FIG. 6F shows a fourth timing signal.
  • the distance calculation unit 6 corrects the distance when the measurable range is changed by shifting the reference timing signal in the time axis direction (see FIG. 7B).
  • the distance range setting unit 9 notifies the delay control unit 8 and the distance calculation unit 6 of the delay time Td.
  • the distance calculation unit 6 corrects the distance by adding the distance corresponding to the delay time Td notified from the distance range setting unit 9 to the distance obtained from the phase difference ⁇ .
  • the distance calculation unit obtains a distance value to the object 3 by correcting the distance.
  • the distance calculation unit 6 is configured to generate a distance image having a plurality of pixels respectively associated with the plurality of photoelectric conversion units. Each pixel of the distance image has a pixel value indicating the distance to the object 3. If the distance to the object 3 corresponding to the pixel is included in the measurable range, the distance calculation unit 6 sets the pixel value of the pixel to an effective pixel value indicating the distance to the object 3. If the distance to the object 3 corresponding to the pixel is not included in the measurable range, the distance calculation unit 6 uses the pixel value of the pixel to indicate that the distance to the object 3 is outside the measurable range. Set to.
  • the difference between the charge amount A1 and the charge amount A3 is also equal to or less than the threshold ⁇ even when the distance to the object 3 is below the lower limit value of the measurable range (hereinafter referred to as “minimum measurement distance”) (see FIG. 4). ). Therefore, if the difference between the charge amount A1 and the charge amount A3 is equal to or less than the threshold value ⁇ , the correctness / incorrectness determination unit 7 has the distance to the object 3 equal to or less than the minimum measurement distance or twice the maximum measurement distance. Can be determined. The correctness determination unit 7 determines whether the distance to the object 3 is within a measurable range for each group of light receiving regions of the light receiving sensor 2.
  • the distance range setting unit 9 may be configured to select the delay time Td from a plurality of different times and notify the delay control unit 8 of the delay time Td.
  • the delay control unit 8 is configured to generate the timing signal by delaying the reference timing signal by the delay time Td notified from the distance range setting unit 9. That is, if the distance range setting unit 9 switches the delay time, the measurable range can be switched to the measurable range corresponding to each delay time. Thereby, the measurable range of the distance measuring device can be expanded.
  • the delay time Td is switched at three different times of 0 [s], 75 [ns], and 150 [ns].
  • the distance range setting unit 9 may be configured to automatically switch the measurable range (delay time Td) for each predetermined frame.
  • the predetermined frame may be a plurality of frames.
  • the distance range setting unit 9 may switch the delay time Td cyclically (so that the delay time Td gradually increases or decreases). In this way, even when the object 3 existing near the boundary (upper limit value or lower limit value) of the measurable range is moving, the movement of the object 3 can be smoothly tracked.
  • the distance range setting unit 9 gives an instruction to the delay control unit 8 so that the delay time selectable by the delay time control unit 8 is cyclically selected.
  • the distance measuring device may include an event detection unit 10 that detects the occurrence of a predetermined event.
  • the event detection unit 10 detects the moving object 3 such as a person based on the distance image generated by the distance calculation unit 6.
  • the event detection unit 10 also functions as a prediction unit that predicts a position where the object 3 moves.
  • the event detection unit 10 notifies the distance range setting unit 9 of the predicted result.
  • the distance range setting unit 9 receives the instruction from the event detection unit 10 and selects the delay time Td.
  • the distance range setting unit 9 determines which measurable range (delay time Td) to select when the object 3 is present at the boundary of adjacent measurable ranges (range where the distances overlap). This is determined based on the prediction result of the detection unit 10. In this case, the measurable range can be switched according to the distance to the object 3 by tracking the object 3. That is, the distance can be measured by tracking the object 3.
  • the distance calculation unit 6 generates a corrected distance value for each measurable range. That is, the distance calculation unit 6 generates a distance image for each measurable range. For example, when the delay time Td is switched at three different times of 0 [s], 75 [ns], and 150 [ns], a distance image is generated for each delay time Td (measurable range). That is, a distance image having a measurable range of 0 to 15 [m], a distance image having a measurable range of 11.25 [m] to 26.25 [m], and a measurable range of 22.5 [m] ] To 37.5 [m] are generated.
  • the distance calculation unit 6 associates a distance value obtained for each measurable range with a pixel of one distance image, thereby using one distance image (composite distance) using distance values obtained from a plurality of measurable ranges. Image).
  • the distance calculation unit 6 When combining a plurality of distance images into one distance image (when generating a composite distance image), the distance calculation unit 6 refers to the determination result in the correctness / incorrectness determination unit 7 to the object 3. Only the distance values determined to be within the measurable range are combined. Further, in all the measurable ranges, the pixels in which the determination result in the correctness / incorrectness determination unit 7 is an abnormal value (pixels indicating that the measurement maximum distance is exceeded or the measurement minimum distance is below) are not measurable. Assign the indicated value. That is, the distance calculation unit 6 is configured to generate a combined distance image by combining a plurality of distance images so that the number of pixels having invalid pixel values is reduced.
  • the distance can be measured seamlessly from a short distance to a long distance without making the user aware of the measurable range.
  • the distance can be measured seamlessly from a short distance to a long distance without making the user aware of the measurable range.
  • an average value of two distances obtained at the boundary may be used, or a weighted average of each distance may be used.
  • the measurement accuracy of the distance measuring device may vary due to a rounded waveform of the modulation signal or timing signal even if the distance to the object 3 is within the measurable range.
  • the waveform of the modulation signal or timing signal may not be a complete square wave signal due to the capacitance component or inductance component of the circuit. Therefore, as shown in FIG. 8, an error occurs between the theoretical value (characteristic V10) and the actual value (characteristic V11) of the charge amounts A0 to A3 in the regions where the charge amounts A0 to A3 are small and large. There is.
  • FIG. 8 shows the charge amounts A1 and A3, the same error may occur even with the charge amounts A0 and A2.
  • the actual value is smaller than the theoretical value in the region where the charge amounts A0 to A3 are large. In the region where the charge amounts A0 to A3 are small, the actual value is larger than the theoretical value. Unlike the theoretical value, the actual value changes not in a straight line but in an S-shaped curve.
  • the distance may not change linearly with respect to the charge amounts A0 to A3.
  • the charge amounts A0 to A3 have a region where the slopes of the theoretical value and the actual value substantially coincide. Therefore, the error between the calculation distance and the actual distance can be reduced by using the charge amounts A0 to A3 when the slopes of the theoretical value and the actual value match.
  • the distance range (optimum range) in which the degree of coincidence of the slope between the theoretical value and the actual value is high is expressed as x to x + a [ m].
  • the delay time is a predetermined value and the minimum measurement distance is y [m]
  • the optimum range is x + y to x + y + a [m].
  • the optimum range x to x + a [m] is determined as a range in which the error between the actual distance and the calculation distance is within a predetermined value (for example, 10%).
  • the optimum range x to x + a [m] is often near the center of the measurable range determined by the chip length Tc. Therefore, the vicinity of the center of the measurable range is set as an adopted range Dp (see FIG. 8) used for distance measurement. In this way, distance measurement with good linearity (high accuracy) becomes possible.
  • a plurality of measurable ranges may be set so that only the distance near the center of the measurable range can be used.
  • the distance calculation unit 6 is configured to generate a single distance image (composite distance image) using only the distances within the adopted range Dp within each measurable range. With this configuration, variation in measurement accuracy of each distance value is reduced. Therefore, the distance to the target 3 can be measured with high accuracy.
  • the light emitted from the light source 1 may be reflected multiple times in the target space.
  • the charge amount generated by the multiple reflection component of light is added to the charge amount generated by the regular reflection component of light, and the charge amount is more than the actual charge amount. May also increase.
  • the charge amount at a time T2 after the time T1 may be superimposed on the charge amount at a certain time T1.
  • the distance calculation unit 6 determines whether or not the distance to the object 3 matches the predetermined distance, and determines the pixel value of the pixel whose distance L to the object 3 matches the predetermined distance as the distance to the object 3. May be different from the pixel value of a pixel that does not match the predetermined distance. For example, the distance calculation unit 6 sets the pixel value of the pixel to an effective pixel value if the distance to the object 3 corresponding to the pixel matches a predetermined distance, and the distance to the object 3 corresponding to the pixel is If it does not coincide with the predetermined distance, the pixel value of the pixel is set to an invalid pixel value.
  • the amount of charge associated with the non-inversion reference timing signal and the amount of charge associated with the inversion reference timing signal first coincide after the elapse of the delay time Td after the light emission source 1 emits light. It is a distance corresponding to the time of flight Tf.
  • the distance to the object 3 matches the predetermined distance not only means that the distance to the object 3 coincides with the predetermined distance in a strict sense, but also the distance to the object 3 The distance is such that the influence of multiple reflections can be ignored.
  • the distance calculation unit 6 calculates the distance to the object 3 using the charge amount corresponding to the maximum measurement distance Lmax. Therefore, the charge amount added by the multiple reflection of light is B in both cases of the first timing signal and the second timing signal. That is, even if the light is multiple-reflected, the charge amount superimposed on each of the charge amount A0 and the charge amount A2 corresponding to the maximum measurement distance Lmax is equal. Therefore, if the charge amount A0 and the charge amount A2 corresponding to the maximum measurement distance Lmax are used, the distance to the object 3 can be measured without being affected by the multiple reflection of the light emitted from the light emitting source 1.
  • the measurable range corresponding to the delay time Td is only the maximum measurement distance Lmax [m].
  • the allowable value of the optical path difference between the regular reflection component and the multiple reflection component of light is DA [m].
  • the allowable value is a value that can ignore the influence of multiple reflection.
  • the delay time Td is increased by a time corresponding to the allowable value DA [m]
  • a time corresponding to the allowable value DA [m] a composite distance image without the influence of multiple reflection.
  • the time Td is changed from (2/3) Tc (corresponding to 10 [m]) to (49/30) Tc (corresponding to 24.5 [m]) to (1/30) Tc (0.5 [m ]).
  • a part of the measurable range may overlap with a part of the other measurable range. That is, the delay time Td may be increased by a time less than the time corresponding to the allowable value DA [m].
  • the light emitted from the light source 1 is ideally reflected by the object 3 closest to the light receiving sensor 2 and returns to the light receiving sensor 2. However, when there is glass between the light receiving sensor 2 and the nearest object 3 or when there is an object with high light reflectance in the vicinity of the light receiving sensor 2, the object 3 is closer than the object 3.
  • the amount of charge according to the light reflected by the object (light short-distance component, flare component) is added to the amount of charge according to the light reflected by the object 3, so that the amount of charge is larger than the actual amount of charge. It may become. For example, the charge amount at a time T3 before the time T1 may be superimposed on the charge amount at a certain time T1.
  • the correct charge amount cannot be obtained due to the influence of the short-distance component of light, and the measured distance and the actual distance may be greatly different.
  • the intensity of the short-range component of light is strong, and flare may occur in the distance image.
  • the distance calculation unit 6 calculates the charge amount A1 corresponding to the third reference timing signal (delay non-inversion reference timing signal) and the charge amount A3 corresponding to the fourth reference timing signal (delay inversion reference timing signal). And may be configured to obtain the time difference ⁇ .
  • the charge amount A1 corresponding to the third reference timing signal (third timing signal) and the charge amount A3 corresponding to the fourth reference timing signal (fourth timing signal) have a time difference ⁇ less than 0, that is, In the delay time Td, if the distance to the object 3 is less than the minimum measurement distance Lmin, B is a constant value.
  • the amount of charge added by the short-distance component is B in any case of the third timing signal and the fourth timing signal. That is, the amount of charge superimposed on the amount of charge corresponding to the third timing signal and the amount of charge corresponding to the fourth timing signal are equal due to the short distance component of light. Therefore, if the difference between the charge amount A1 and the charge amount A3 is used, the short distance component of the light emitted from the light source 1 can be removed.
  • the delay time Td is selected using the charge amount A1 and the charge amount A3 and the short distance component of the light is incident on the light receiving sensor 2 within the delay time Td, the light emitted from the light source 1 is emitted.
  • the distance to the object 3 can be measured without being affected by the short distance component.
  • the distance measuring apparatus includes the light emitting source 1, the light receiving sensor 2, the timing control unit 5, the distance calculation unit 6, and the delay control unit 8.
  • the light emitting source 1 is used for irradiating light to a target space where the target object 3 exists.
  • the light receiving sensor 2 generates a charge corresponding to the intensity of light received from the target space during the light receiving period, and the charge generated by the photoelectric converting part in a predetermined accumulation period longer than the light receiving period.
  • a charge accumulating portion that accumulates over the entire area.
  • the timing control unit 5 is configured to output a modulation signal to the light emission source 1 and to output a plurality of reference timing signals to the delay control unit 8.
  • the modulation signal is a square wave signal.
  • the lengths of the period during which the modulation signal is at the high level and the period at which the modulation signal is at the low level are determined randomly from a length that is an integral multiple of the predetermined unit period.
  • the plurality of reference timing signals include a non-inverted reference timing signal having the same waveform as the modulation signal and an inverted reference timing signal that is a signal obtained by inverting the non-inverted reference timing signal.
  • each of the first reference timing signal and the third reference timing signal is a non-inverted reference timing signal.
  • the second reference timing signal is an inverted reference timing signal that is paired with the first reference timing signal.
  • the fourth reference timing signal is an inverted reference timing signal that is paired with the third reference timing signal.
  • the light emitting source 1 is configured to change the intensity of light based on the modulation signal received from the timing control unit 5.
  • the light source 1 is lit while the signal value of the modulation signal is high level (first value), and the signal value (first signal value) of the modulation signal is low level (second value). It goes out during the interval.
  • the delay control unit 8 is configured to delay each reference timing signal received from the timing control unit 5 by a delay time Td, thereby generating a plurality of timing signals and outputting them to the light receiving sensor 2 (photoelectric conversion unit).
  • the light receiving sensor 2 (photoelectric conversion unit) is configured to select either the period in which each timing signal received from the delay control unit 8 is at the high level or the period in which the timing signal is at the low level as the light receiving period. In the above example, the light receiving sensor 2 selects a period in which the signal value of the timing signal is at a high level as the light receiving period. The light receiving sensor 2 may select a period in which the signal value of the timing signal is at a low level as the light receiving period.
  • the light receiving sensor 2 (charge storage unit) is configured to store the charge generated by the photoelectric conversion unit in association with each of a plurality of timing signals.
  • the distance calculation unit 6 obtains the time difference ⁇ using the amount of charge associated with each timing signal.
  • the distance calculation unit 6 is configured to obtain the distance to the object 3 based on the time difference ⁇ and the delay time Td.
  • the time difference ⁇ is the time difference between the flight time Tf and the delay time Td, which is the time taken for the light receiving sensor 2 (photoelectric conversion unit) to receive the light emitted from the light emitting source 1 and reflected by the object 3. It is.
  • the amount of charge accumulated during the accumulation period is a linear function of the time difference ⁇ that varies according to the distance to the target 3.
  • the time difference ⁇ can be determined by using the amount of charge accumulated corresponding to each of a plurality of different timing signals. Therefore, the distance to the object 3 can be calculated.
  • the distance calculation unit 6 obtains the distance to the object 3 using the time difference ⁇ obtained from the charge amount and the delay time Td in the delay control unit 8.
  • the resolution of the distance is determined by the reference timing signal, and the maximum measurement distance is determined by the unit period and the delay time Td. Therefore, the distance resolution can be kept constant regardless of the maximum measurement distance.
  • the width of the measurable range and the resolution of the distance are determined by the unit period.
  • the distance measuring device changes the upper limit value and lower limit value of the measurable range by changing the delay time without changing the unit period. That is, the upper limit value and lower limit value of the measurable range are changed while the width of the measurable range remains unchanged. Therefore, even if the maximum measurement distance is changed, the distance resolution does not decrease.
  • the width of the measurable range is determined by the unit period, and the lower limit of the measurable range is determined by the delay time. Since the distance calculation unit 6 does not measure the distance to the object 3 outside the measurable range, even if the maximum measurement distance is changed, the distance outside the measurable range is not erroneously measured.
  • the measurable range of the distance can be set arbitrarily by adjusting the delay time Td. That is, since the width of the measurable range is determined by the unit period, the upper limit value and the lower limit value of the measurable range can be determined by the delay time. Therefore, the measurable range can be set in the range of the distance to be measured.
  • the plurality of reference timing signals have the same waveform as the first reference timing signal that matches the modulation signal, the second reference timing signal that is an inverted version of the first reference timing signal, and the modulation signal.
  • a third reference timing signal delayed by a unit period (one chip length Tc) from the modulation signal and a fourth reference timing signal obtained by inverting the third reference timing signal are included.
  • the distance calculation unit 6 corresponds to the charge amount A0 corresponding to the first reference timing signal, the charge amount A2 corresponding to the second reference timing signal, the charge amount A1 corresponding to the third reference timing signal, and the fourth reference timing signal.
  • the time difference ⁇ is obtained using the charge amount A3.
  • the distance can be obtained by removing the influence of the ambient light.
  • the distance calculation unit 6 is configured to calculate the distance to the object 3 by adding the distance corresponding to the delay time Td to the distance corresponding to the time difference ⁇ . Accordingly, the distance to the object 3 can be easily obtained.
  • the distance measuring device has a distance range setting unit 9.
  • the distance range setting unit 9 is configured to select a delay time Td from a plurality of different times according to the received input signal and notify the delay control unit 8 of it.
  • the delay control unit 8 is configured to generate the timing signal by delaying the reference timing signal by the delay time Td notified from the distance range setting unit 9.
  • the upper and lower limits of the measurable range can be changed without changing the width of the measurable range (while maintaining the distance resolution).
  • the distance range setting unit 9 selects the delay time Td according to the received input signal. Therefore, the delay time Td (measurable range) can be changed by transmitting an input signal to the distance range setting unit 9 from a switch manually operated by the user, a human sensor, or the like. That is, the distance range setting unit can change the measurable range in cooperation with a predetermined means. For example, the measurable range can be changed to track a moving person.
  • the distance range setting unit 9 may be configured to automatically select the delay time Td from a plurality of different times and notify the delay control unit 8 of the delay time Td.
  • the distance range setting unit 9 cyclically (sequentially) selects the delay time Td from a plurality of different times, a wide range distance measurement can be performed without making the user aware of switching of the measurable range. That is, the measurable range can be substantially expanded.
  • the distance measuring device has a plurality of photoelectric conversion units.
  • the light receiving sensor 2 functions as a plurality of photoelectric conversion units.
  • the plurality of photoelectric conversion units are arranged in a planar shape so as to form an imaging surface.
  • the distance calculation unit 6 is configured to generate a distance image having a plurality of pixels respectively associated with the plurality of photoelectric conversion units.
  • the distance calculation unit 6 determines whether or not the distance to the target object 3 matches the predetermined distance, and the pixel value of the pixel whose distance to the target object 3 matches the predetermined distance is the predetermined distance. It is configured to be different from the pixel value of pixels that do not match.
  • the amount of charge associated with the non-inversion reference timing signal and the amount of charge associated with the inversion reference timing signal first coincide after the elapse of the delay time Td after the light emission source 1 emits light. It is a distance corresponding to the time of flight Tf.
  • the predetermined distance is equal to the time when the light source 1 emits light and the charge amount associated with the non-inverted reference timing signal after the delay time Td has elapsed since the light source 1 emitted light. This is a distance corresponding to the difference from the time when the charge amount associated with the reference timing signal first matches. In this way, the influence of the multiple reflection component of light can be removed.
  • the distance measuring device has an event detection unit 10 that detects the occurrence of a predetermined event in the target space.
  • the distance range setting unit 9 is configured to select the delay time Td according to the distance to the place where the event has occurred in the target space. In this case, the distance to the object 3 can be measured with the delay time Td suitable for the event that occurred in the object space.
  • the distance measuring device has a correct / incorrect determination unit 7.
  • the correctness determination unit 7 is configured to determine whether the distance to the object 3 is within a measurable range using a predetermined determination condition with respect to the magnitude relationship of the charge amount associated with each timing signal.
  • the distance calculation unit 6 is configured to generate a distance image having a plurality of pixels respectively associated with a plurality of photoelectric conversion units for each of a plurality of delay times.
  • the distance calculation unit 6 is configured to generate a distance image with reference to the determination result of the correctness determination unit. That is, if the distance to the object corresponding to the pixel is included in the measurable range, the distance calculation unit 6 sets the pixel value of the pixel to an effective pixel value indicating the distance to the object 3 and corresponds to the pixel. If the distance to the target object 3 is not included in the measurable range, the pixel value of the pixel is set to an invalid pixel value indicating that the distance to the target object 3 is outside the measurable range.
  • the distance calculation unit 6 is configured to generate a combined distance image by combining a plurality of distance images so that the number of pixels having invalid pixel values is reduced.
  • a single distance image (composite distance image) having a wider measurable range than each distance image is obtained from a plurality of distance images having different measurable ranges. That is, a distance image having a wide range of distance values can be generated.
  • a distance image from which the influence of multiple reflection components is removed is used as the distance image, a synthesized distance image with high distance measurement accuracy can be obtained.
  • the plurality of delay times are selected so that the corresponding measurable ranges are continuous with each other.
  • the measurable range can be continuously connected.
  • the measurable ranges are continuous only needs to be such that the measurable ranges can be regarded as being continuous with each other. Therefore, a part of the measurable range may overlap with a part of the other measurable range, and the upper limit value of the measurable range may coincide with the lower limit value of the other measurable range. Also, if the difference between the upper limit value of the measurable range and the lower limit value of the other measurable range is such that the upper limit value of the measurable range matches the lower limit value of the other measurable range, It can be said that the possible ranges are continuous.
  • the plurality of reference timing signals are obtained by inverting the delayed non-inverted reference timing signal having the same waveform as the modulated signal and delayed from the modulated signal by a unit period, and the delayed non-inverted reference timing signal.
  • a delay inversion reference timing signal In the above example, the delayed non-inverted reference timing signal is the third reference timing signal, and the delayed inverted reference timing signal is the fourth reference timing signal.
  • the distance calculation unit 6 uses the charge amount A1 corresponding to the delayed non-inversion reference timing signal (third reference timing signal) and the charge amount A3 corresponding to the delayed inversion reference timing signal (fourth reference timing signal). The time difference ⁇ may be obtained. In this way, the distance to the object 3 can be measured without being affected by the short distance component of the light emitted from the light emitting source 1.

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Abstract

La présente invention concerne un appareil de mesure de la distance qui est équipé d'une source électroluminescente (1), d'un capteur de réception de la lumière (2), d'une section commande de synchronisation (5), d'une section de calcul de la distance (6) et d'une section commande de retard (8). La section commande de synchronisation (5) émet un signal de modulation et une pluralité de signaux de synchronisation de référence. Le signal de modulation est un signal à onde rectangulaire, la longueur d'une période dans laquelle le signal est à un niveau élevé et la longueur d'une période dans laquelle le signal est à un niveau bas étant sélectionnées de façon aléatoire parmi les longueurs des multiples entiers d'une période unitaire. Chacun des signaux de synchronisation de référence possède une forme d'onde identique à celle du signal de modulation ou à celle du signal de modulation inverse. La source électroluminescente (1) change l'intensité de la lumière sur la base du signal de modulation. La section commande de retard (8) génère des signaux de synchronisation en retardant les signaux de synchronisation de référence d'un temps de retard (Td). Le capteur de réception de la lumière (2) accumule des charges générées pendant le temps de réception de la lumière correspondant à chaque signal de la pluralité de signaux de synchronisation. La section de calcul de la distance (6) obtient une différence de temps (τ) à l'aide d'une quantité de charge associée à chacun des signaux de synchronisation, et la distance (L) à un objet (3) est obtenue sur la base de la différence de temps (τ) et du temps de retard (Td).
PCT/JP2010/053120 2009-02-27 2010-02-26 Appareil de mesure de la distance WO2010098454A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2011501672A JP5261571B2 (ja) 2009-02-27 2010-02-26 距離測定装置
US13/203,570 US8699008B2 (en) 2009-02-27 2010-02-26 Distance measuring device
CN201080014824.4A CN102378920B (zh) 2009-02-27 2010-02-26 测距设备
KR1020117022580A KR101279103B1 (ko) 2009-02-27 2010-02-26 거리 측정 장치
EP10746333.3A EP2402783B1 (fr) 2009-02-27 2010-02-26 Appareil de mesure de la distance

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WO2012115083A1 (fr) * 2011-02-21 2012-08-30 パナソニック株式会社 Dispositif de détection d'informations spatiales
JPWO2012115083A1 (ja) * 2011-02-21 2014-07-07 パナソニック株式会社 空間情報検出装置
JP5655133B2 (ja) * 2011-02-21 2015-01-14 パナソニックＩｐマネジメント株式会社 空間情報検出装置
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WO2013058372A1 (fr) * 2011-10-21 2013-04-25 ナブテスコ株式会社 Dispositif de sécurité pour porte de plateforme
JP2013086740A (ja) * 2011-10-21 2013-05-13 Nabtesco Corp プラットホームドア用安全装置
JP2013174446A (ja) * 2012-02-23 2013-09-05 Toshiba Corp ３次元情報検出装置および３次元情報検出方法
JP2017022259A (ja) * 2015-07-10 2017-01-26 株式会社ニコン 撮像素子および撮像装置
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CN109564287A (zh) * 2016-08-01 2019-04-02 株式会社电装 光飞行型测距装置
WO2018025749A1 (fr) * 2016-08-01 2018-02-08 株式会社デンソー Dispositif de télémétrie du type opto-électronique
JP2018021764A (ja) * 2016-08-01 2018-02-08 株式会社デンソー 光飛行型測距装置
DE112017003858B4 (de) 2016-08-01 2023-01-19 Denso Corporation Laufzeitdistanzmessvorrichtung
CN109564287B (zh) * 2016-08-01 2022-12-06 株式会社电装 光飞行型测距装置
JP2018185179A (ja) * 2017-04-25 2018-11-22 株式会社リコー 測距装置、監視装置、３次元計測装置、移動体、ロボット及び測距方法
WO2020195465A1 (fr) * 2019-03-27 2020-10-01 パナソニックＩｐマネジメント株式会社 Dispositif de mesure de distance, système de mesure de distance, procédé de mesure de distance et programme
JPWO2020195465A1 (fr) * 2019-03-27 2020-10-01
JP7285454B2 (ja) 2019-03-27 2023-06-02 パナソニックＩｐマネジメント株式会社 距離測定装置、距離測定システム、距離測定方法、及び、プログラム
JP2021025833A (ja) * 2019-08-01 2021-02-22 株式会社ブルックマンテクノロジ 距離画像撮像装置、及び距離画像撮像方法
WO2021020496A1 (fr) * 2019-08-01 2021-02-04 株式会社ブルックマンテクノロジ Appareil de capture d'image de distance et procédé de capture d'image de distance
JP7463671B2 (ja) 2019-08-01 2024-04-09 Ｔｏｐｐａｎホールディングス株式会社 距離画像撮像装置、及び距離画像撮像方法
WO2021131684A1 (fr) * 2019-12-23 2021-07-01 ソニーセミコンダクタソリューションズ株式会社 Dispositif de télémétrie, procédé de commande de dispositif de télémétrie et appareil électronique
WO2021157439A1 (fr) * 2020-02-03 2021-08-12 株式会社ソニー・インタラクティブエンタテインメント Dispositif de calcul de déphasage, procédé de calcul de déphasage, et programme
JP2021124307A (ja) * 2020-02-03 2021-08-30 株式会社ソニー・インタラクティブエンタテインメント 位相差算出装置、位相差算出方法およびプログラム
JP7241710B2 (ja) 2020-02-03 2023-03-17 株式会社ソニー・インタラクティブエンタテインメント 位相差算出装置、位相差算出方法およびプログラム

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US20120050716A1 (en) 2012-03-01
KR20110126724A (ko) 2011-11-23
JPWO2010098454A1 (ja) 2012-09-06
EP2402783A1 (fr) 2012-01-04
CN102378920A (zh) 2012-03-14
CN102378920B (zh) 2014-01-08
US8699008B2 (en) 2014-04-15
KR101279103B1 (ko) 2013-06-26
EP2402783A4 (fr) 2012-08-01
JP5261571B2 (ja) 2013-08-14

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